Control method of intelligent firearm platform with two degrees of freedom, intelligent firearm platform and computer readable medium

Abstract

The embodiment of the invention relates to the field of shooting equipment, and discloses a control method of an intelligent firearm platform with two degrees of freedom, and the firearm platform comprises an aiming algorithm module, a striking algorithm module and a bullet amount and bullet changing algorithm module; the control method comprises the steps that a target is determined, the target is calibrated through the aiming algorithm module, and dynamic aiming and / or static aiming are / is conducted. In response to a confirmation signal of the aiming algorithm module, the striking algorithm module determines a shooting mode according to the type of the target; the ammunition consumption and task requirements are determined according to the shooting mode and the ammunition amount changing algorithm module, and whether the ammunition changing operation is triggered or not is judged. Therefore, the operation function and the operation precision of the armed strike robot are improved, the combat efficiency is remarkably improved, the armed strike robot is suitable for scenes with high precision and high safety requirements such as anti-terrorism sniping and border patrol, and the casualty risk is reduced. The invention further discloses an intelligent firearm platform machine and a readable medium.

Description

Technical Field

[0001] The present application relates to the technical field of shooting equipment, and particularly to a control method for a firearm intelligent platform with two degrees of freedom, a firearm intelligent platform, and a computer-readable medium. Background Art

[0002] With the rapid development of robot technology and national defense technology, all kinds of equipment are developing towards high speed, high precision, and large load capacity. In particular, the firing speed of launching devices is getting higher and higher, and the resulting body problems are becoming more and more serious. At present, the technology of intelligent unmanned combat equipment is becoming increasingly mature. For example, ground unmanned platforms have strong load capacity, low requirements for the weight of weapon loads, and can carry weapons such as rifles and rocket launchers through a two-axis pan-tilt and perform remote control operations; air unmanned platforms have high requirements for the weight of weapon loads and can carry light weapons such as pistols and light submachine guns through fixed devices and perform remote control operations. However, intelligent unmanned combat equipment such as exoskeleton soldiers, mecha soldiers, and humanoid robot soldiers mainly focuses on mobility and load-bearing capacity, rarely carry weapons, and the lack of firepower will reduce the combat effectiveness of these unmanned and intelligent equipment.

[0003] At present, the application of armament in the field of armed strike robots has a low degree of intelligence, mainly concentrated on the multi-carrier installation of armed guns such as drones, wheeled chassis, tracked chassis, etc. Most are realized through different remote control methods, and complete autonomy has not been achieved, and at the same time, the striking accuracy is low. The autonomous shooting of the gun body is relatively rough, and many key points still need to be corrected and adjusted in actual combat and practice.

[0004] However, the inventor found that there are at least the following technical problems in the related technology: in the autonomous shooting of the gun body, the operation function and operation accuracy still need to be improved. Summary of the Invention

[0005] An object of the present application is to provide a control method for a firearm intelligent platform with two degrees of freedom, a firearm intelligent platform, and a computer-readable medium, at least to solve the above problems.

[0006] To achieve the above object, some embodiments of the present application provide a control method for a firearm intelligent platform with two degrees of freedom, where the firearm platform includes a aiming algorithm module, a striking algorithm module, and a bullet quantity and reloading algorithm module;

[0007] The control method includes:

[0008] Determine the target, and the aiming algorithm module calibrates the target, and performs dynamic aiming and / or static aiming;

[0009] In response to the confirmation signal of the aiming algorithm module, the striking algorithm module determines the shooting method according to the type of the target;

[0010] According to the shooting mode, the ammunition quantity reloading algorithm module determines the ammunition consumption and task requirements, and judges whether to trigger the reloading operation.

[0011] Some embodiments also provide a firearm intelligent platform with two degrees of freedom, including:

[0012] One or more processors; and

[0013] A memory storing computer program instructions, which when executed cause the processor to execute the steps of the control method described in the foregoing embodiments.

[0014] Some embodiments also provide a computer-readable medium, on which computer programs / instructions are stored, and when the computer programs / instructions are executed by a processor, the steps of the control method described in the foregoing embodiments are implemented.

[0015] Compared with the related art, in the solution provided by the embodiments of the present application, through the collaborative optimization of the aiming algorithm module, the striking algorithm module and the ammunition quantity reloading algorithm module, not only the aiming accuracy is improved, but also the shooting mode can be automatically selected according to the target type to improve the hit rate; in addition, the ammunition quantity reloading algorithm module makes a reloading judgment independently through the remaining ammunition quantity monitoring and task priority evaluation, avoiding task interruption and improving the task completion rate. By combining the intelligent algorithm with the structural device to form two modes of autonomous and manual remote control, the purpose of combining a high degree of intelligence and remote control is achieved; the operation function and operation accuracy of the armed strike robot are improved, the combat efficiency is significantly enhanced, and it is applicable to scenarios with high-precision and high-security requirements such as anti-terrorism sniping and border patrol, reducing the risk of personnel casualties. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise stated, and the drawings in the figures do not constitute a proportional limitation.

[0017] Figure 1 is a schematic structural diagram of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0018] Figure 2 is a schematic structural diagram of another perspective of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0019] Figure 3 is a schematic structural diagram of another perspective of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0020] Figure 4 is a schematic partial structural diagram of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0021] Figure 5 It is another partial structural schematic diagram of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0022] Figure 6 It is another partial structural schematic diagram of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0023] Figure 7 It is Figure 6 The structural schematic diagram of the position A in

[0024] Figure 8 It is Figure 6 The structural schematic diagram of the position B in

[0025] Figure 9 It is another partial structural schematic diagram of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0026] Figure 10 It is another partial structural schematic diagram of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0027] Figure 11 It is another partial structural schematic diagram of the firearm intelligent platform provided by the embodiments of the present disclosure;

[0028] Figure 12 It is the structural schematic diagram of the buffer device provided by the embodiments of the present disclosure;

[0029] Figure 13 It is the structural schematic diagram of another perspective of the buffer device provided by the embodiments of the present disclosure;

[0030] Figure 14 It is the structural schematic diagram of another perspective of the buffer device provided by the embodiments of the present disclosure;

[0031] Figure 15 It is the structural schematic diagram of another perspective of the buffer device provided by the embodiments of the present disclosure;

[0032] Figure 16 It is the structural schematic diagram of the firing device provided by the embodiments of the present disclosure;

[0033] Figure 17 It is the structural schematic diagram of the magazine disassembly and assembly device provided by the embodiments of the present disclosure;

[0034] Figure 18 It is the flow schematic diagram of the control method of the firearm intelligent platform provided by the embodiments of the present disclosure.

[0035] Reference numerals:

[0036] 10: Support device; 101: Rotary table; 1021: First drive shaft; 1022: First drive motor; 1031: Second drive shaft; 1032: Second drive motor; 104: Bracket;

[0037] 20: Buffer device; 201: Buffer bracket; 2021: Buffer slide rail; 2022: Buffer slider; 203: Spring assembly; 2031: Buffer spring; 2032: Damping pad;

[0038] 40: Front clamp; 401: First front clamping plate; 402: Second front clamping plate; 4021: Mounting hole; 4022: Through groove; 403: Third front clamping plate; 404: Limit port; 405: First connecting piece;

[0039] 50: Middle clamp; 501: First middle clamping plate; 502: Second middle clamping plate;

[0040] 60: Rear clamp; 601: First rear clamping plate; 602: Second rear clamping plate; 603: Third rear clamping plate; 604: Second connecting piece; 605: Accommodating cavity;

[0041] 701: Multiplier aiming device; 702: Laser aiming device; 703: Fine adjustment motor;

[0042] 80: Firing device; 801: First firing drive part; 8011: Lever; 802: Second firing drive part; 8022: Pushing block;

[0043] 90: Magazine disassembly and assembly device; 901: Third connecting piece; 902: Fourth connecting piece; 903: Magazine button pushing part;

[0044] 100: Magazine box; 200: Firearm. Detailed implementation manners

[0045] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some but not all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0046] The terms "first", "second", etc. in the description and claims of the embodiments of this disclosure and the above accompanying drawings are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to implement the embodiments of this disclosure described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0047] In the embodiments of the present disclosure, the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", "middle", "outer", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the embodiments of the present disclosure and their embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation. Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0048] In addition, the terms "arrangement", "connection", and "fixation" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0049] Unless otherwise specified, the term "plurality" means two or more.

[0050] In the embodiments of the present disclosure, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0051] The term "and / or" is an associative relationship describing an object, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B these three relationships.

[0052] It should be noted that, without conflict, the embodiments in the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0053] Combined Figures 1 to 18 As shown, a firearm intelligent platform with two degrees of freedom provided by the embodiments of the present disclosure includes a support device 10, a buffer device 20, a fixture device, a measurement device, and a firing device 80.

[0054] The support device 10 is used to support and drive the firearm 200 to rotate horizontally and vertically; the buffer device 20 is provided on the support device 10 and is used to buffer the recoil force when the firearm 200 is fired; the fixture device is connected to the buffer device 20 and is located above the buffer device 20 for fixing the firearm 200; the measuring device is provided on the firearm 200 and is used to measure and aim at the distance between the firearm 200 and the target; the firing device 80 is provided on the fixture and is movably connected to the firearm 200 for unlocking the safety of the firearm 200 and pushing the trigger of the firearm 200 to complete the firing.

[0055] By using the intelligent platform for the firearm 200 with two degrees of freedom provided in the embodiments of the present disclosure, it is applicable to the placement and fixation of various firearms 200. During use, through the support device 10 and the firing device 80, multi-angle autonomous shooting can be achieved, and the shooting accuracy can be improved through the measuring device. In addition, the fixture device with the firearm 200 installed is connected to the buffer device 20 for coordinated use. With the aid of the buffer device 20, the recoil force (recoil) during shooting can be buffered, enabling the firearm 200 to quickly return to the initial shooting position and further improving the shooting accuracy. That is, it can be understood that: compared with the prior art, the technical solution of the present embodiment through two-degree-of-freedom drive combined with intelligent buffering and unmanned firing improves the operation function and operation accuracy of the armed strike robot, significantly enhances the combat efficiency, is applicable to scenarios with high-precision and high-security requirements such as anti-terrorism sniping and border patrol, and reduces the risk of personnel casualties.

[0056] The support device 10 drives the firearm 200 to rotate horizontally and vertically. Through the coordinated movement of two degrees of freedom (horizontal + vertical), the full-angle adjustment of the firearm 200 is realized, significantly enhancing the aiming flexibility and shooting coverage. Exemplarily, the support device 10 uses a servo motor or a hydraulic drive system to accurately control the rotation angle of the firearm 200 (such as ±180° horizontally and 0° - 90° vertically), which can meet the rapid response requirements for complex terrains or dynamic targets, while reducing the errors of manual operations.

[0057] Compared with the prior art, in the present embodiment, the buffer device 20 is connected between the support device 10 and the fixture device, which can effectively absorb the recoil force when the firearm 200 is fired, effectively avoid the fatigue damage of the mechanical structure caused by continuous firing, and extend the service life of the equipment; at the same time, it reduces the influence of shooting vibration on the aiming accuracy and ensures the ballistic consistency during continuous shooting.

[0058] In the present embodiment, the measuring device is used to calculate the target distance and automatically calibrate the aiming, reducing the human aiming delay and improving the shooting hit rate. In addition, the safety switch and trigger action of the firearm 200 are controlled by the firing device 80. With the mechatronic design, remote or programmed firing can be achieved, avoiding the operator from being exposed to dangerous environments and improving the safety of the operator.

[0059] In this embodiment, each device cooperates in a linkage manner to form a closed-loop control system. The central controller integrates motion control, ranging and aiming, and firing commands to achieve full-process automation of "recognition - adjustment - firing", significantly improving the combat efficiency. It is applicable to scenarios with high-precision and high-security requirements such as anti-terrorism sniping and border patrol, reducing the risk of personnel casualties.

[0060] Optionally, the support device 10 includes: a turntable 101 rotatably connected to the buffer device 20; a first driving part disposed on the side of the turntable 101 and drivingly connected to the buffer device 20 for driving the buffer device 20 to rotate longitudinally relative to the turntable 101; and a second driving part disposed at the bottom of the turntable 101 for driving the turntable 101 to rotate horizontally.

[0061] The turntable 101 has a U-shaped structure, including a tabletop structure and two side plate structures symmetrically located on both sides of the tabletop structure. For the convenience of description, the two side plate structures are defined as the first side plate structure and the second side plate structure respectively. The buffer device 20 is located inside the turntable 101. The first driving part includes a first driving shaft 1021 and a first driving motor 1022. The first driving shaft 1021 sequentially passes through the first side plate structure, the buffer device 20, and the second side plate structure and rotates relative to the first side plate structure and the second side plate structure. The buffer device 20 is at a certain distance from the tabletop structure of the turntable 101 so that the buffer device 20 can rotate downward longitudinally. The first driving motor 1022 is installed on the first side plate structure and is drivingly connected to the first driving shaft 1021. When driving the first driving shaft 1021 to rotate, it drives the buffer device 20 to rotate longitudinally.

[0062] The support device 10 further includes a bracket 104 for accommodating and installing the second driving part. The bracket 104 is located below the turntable 101, and the turntable 101 can rotate horizontally relative to the bracket 104 under the drive of the second driving part. The bracket 104 is a frame structure, and the second driving part is located inside the frame structure of the bracket 104. The second driving part includes a second driving shaft 1031 and a second driving motor 1032. The second driving motor 1032 is located inside the bracket 104 and is drivingly connected to the second driving shaft 1031. The second driving shaft 1031 passes through the bracket 104 and is fixedly connected to the bottom of the turntable 101 to drive the turntable 101 to rotate horizontally during rotation. The bracket 104 not only plays a role in supporting and installing the second driving part but also plays a role in raising the turntable 101.

[0063] In this embodiment, the support device 10 is designed with a composite degree of freedom of lateral rotation and longitudinal rotation (combined with the turntable 101 and the dual drive parts), realizing precise three-dimensional adjustment of the posture of the firearm 200. Compared with the traditional single-degree-of-freedom platform, the aiming flexibility is improved. The split drive structure (the first drive part for longitudinal adjustment and the second drive part for lateral adjustment) decouples the motion control, avoids torque interference in the composite motion, and improves the response speed.

[0064] Optionally, the buffer device 20 includes a buffer frame 201, a buffer sliding assembly, and a spring assembly 203.

[0065] The buffer frame 201 is passed through by the first drive shaft 1021 and is arranged on the turntable 101 of the support device 10, rotating relative to the turntable 101. That is, driven by the first drive shaft 1021, it rotates longitudinally relative to the turntable 101, and the bottom is spaced from the turntable 101 by a preset distance to reserve the moving space for the longitudinal rotation of the buffer frame 201. The specific data of the "preset distance" needs to consider not only the height of the side plate structure of the turntable 101 and the thickness of the buffer frame 201, but also factors such as the longitudinal rotation angle required when the firearm 200 is in use to be determined, and no specific limitation is made here.

[0066] The buffer sliding assembly includes a buffer slide rail 2021 and a buffer slider 2022 that are slidably connected. The buffer slide rail 2021 is arranged on the buffer frame 201; the buffer slider 2022 is connected to the fixture to drive the firearm 200 to slide along the buffer slide rail 2021. Among them, the length direction of the buffer slide rail 2021 is consistent with the length direction of the firearm 200. In addition, in some embodiments, there are two sets of buffer sliding assemblies, and the two sets of buffer sliding assemblies are respectively located on both sides of the first drive shaft 1021, and the sliding direction is perpendicular to the axis of the first drive shaft 1021.

[0067] The spring assembly 203 is arranged inside the buffer frame 201, and the compression path of the spring assembly 203 is parallel to the sliding path of the buffer sliding assembly. In this embodiment, the spring assembly 203 is located between the buffer frame 201 and the buffer sliding assembly. Exemplarily, spring assemblies 203 are arranged on both sides of the buffer sliding assembly. Optionally, the spring assembly 203 is composed of two buffer springs 2031 and two damping pads 2032 to form a two-stage buffer structure with adjustable buffer degree.

[0068] In this embodiment, the buffer path of the spring assembly 203 is parallel to the path of the recoil force generated when the firearm 200 fires. In this way, it can be ensured that through the buffer device 20, when the firearm 200 fires, a buffering effect on the firearm 200 is achieved. In addition, the buffer device 20 and the first drive shaft 1021 passing through the turntable 101 adopt an axial connection structure to ensure the stability of the shooting axis during the shock absorption process, and the aiming deviation during continuous shooting is controlled within a certain range.

[0069] In addition, the buffer frame 201 in this embodiment is approximately a box-shaped frame structure. It is set in a hollow shape in areas where there is no installation and use requirement, so as to reduce the overall weight of the buffer device 20, thereby reducing the energy consumption of the first driving part and the second driving part.

[0070] In some embodiments, the buffer frame 201 is spaced a preset distance (such as an adjustable distance of 5-8 mm) from the rotary table 101 through the first driving shaft 1021, forming a longitudinal rotation free space, so that the recoil energy of the firearm 200 is dissipated through the dual paths of linear sliding of the buffer sliding assembly and compression of the spring assembly 203. Compared with the traditional single-buffer structure, the peak recoil attenuation rate is improved.

[0071] Optionally, from the muzzle of the firearm 200 to the gun mount, the fixture device includes a front fixture 40, a middle fixture 50, and a rear fixture 60 that are connected in sequence. The middle fixture 50 is fixedly connected to the buffer device 20; wherein, the front fixture 40 is installed at the barrel of the firearm 200 and can adjust the angle of the muzzle of the firearm 200, and / or, the rear fixture 60 is installed at the gun mount of the firearm 200 and can adjust the angle of the gun mount of the firearm 200.

[0072] The fixture device adopts a multi-module design of a front fixture 40, a middle fixture 50, and a rear fixture 60 that are connected in sequence, which matches firearms 200 of different lengths and thicknesses, providing platform compatibility. In addition, through the front fixture 40, the middle fixture 50, and the rear fixture 60 that are connected in sequence, the quick installation and disassembly of the firearm 200 can also be realized. Optionally, the contact surface of the fixture device in direct contact with the firearm 200 is provided with an anti-slip coating or a rubber gasket to enhance the clamping stability and prevent the firearm 200 from displacing during shooting.

[0073] The front fixture 40, the middle fixture 50, and the rear fixture 60 are detachably connected to each other. Optionally, the front fixture 40, the middle fixture 50, and the rear fixture 60 are connected to each other by a partial structure superposition method. In this way, the overall length dimension of the fixture is adjusted through the dimension of the superposition structure between two of them. Thus, firearms 200 of different models (such as length dimensions) can be adapted, and further, the applicable range of the firearm 200 intelligent platform provided in this embodiment is improved.

[0074] The front fixture 40 in this embodiment not only fixes the barrel of the firearm 200, but also can adjust the angle of the muzzle of the firearm 200. Similarly, the rear fixture 60 in this embodiment not only fixes the gun mount of the firearm 200, but also can adjust the angle of the gun mount of the firearm 200. In this way, when the support device 10 can drive the firearm 200 to rotate horizontally and vertically to expand the muzzle coverage range of the firearm 200, the fixture device and the support device 10 cooperate to further improve the position accuracy of the muzzle of the firearm 200.

[0075] In addition, the rigid connection between the middle clamp 50 and the buffer device 20 forms a mechanical closed loop, enabling the angle adjustment amount of the front / rear clamps 60 to dynamically compensate for the muzzle jump caused by the recoil force, which helps to reduce the offset of the impact point during continuous shooting.

[0076] Optionally, the front clamp 40 includes: a first front clamping plate 401 perpendicular to the axis of the barrel of the firearm 200; a second front clamping plate 402 perpendicular to the axis of the barrel of the firearm 200, and enclosing a limiting opening 404 with the first front clamping plate 401 for installing the barrel of the firearm 200; wherein, the distance between the first front clamping plate 401 and the second front clamping plate 402 is adjustable to adjust the size of the limiting opening 404 to fit barrels of different sizes.

[0077] The first front clamping plate 401 and the second front clamping plate 402 are detachably connected. One end of the two is connected by a fastener (such as a screw or a bolt), and the other end is first pre-tensioned through a pull-ring buckle structure, and then the knob-type fine-tuning mechanism passes through the first front clamping plate 401 and the second front clamping plate 402 in sequence. Rotating the knob-type fine-tuning mechanism can further lock the first front clamping plate 401 and the second front clamping plate 402, and can finely adjust the size of the limiting opening 404 to better clamp and fix the barrel of the firearm 200.

[0078] Optionally, a V-shaped groove is formed on the side of the first front clamping plate 401 facing the second front clamping plate 402, and a V-shaped groove is formed on the side of the second front clamping plate 402 facing the first front clamping plate 401. The V-shaped groove of the first front clamping plate 401 and the V-shaped groove of the second front clamping plate 402 form the above-mentioned limiting opening 404, and the barrel of the firearm 200 passes through and is embedded in the limiting opening 404.

[0079] Optionally, a concave groove is further formed on the side of the first front clamping plate 401 facing the second front clamping plate 402, and the second front clamping plate 402 is embedded in the concave groove to further limit the relative position between the first front clamping plate 401 and the second front clamping plate 402.

[0080] Optionally, the second front clamping plate 402 is provided with a mounting hole 4021 whose axis is parallel to the axis of the barrel. A laser aiming device 702 is fixedly placed in the mounting hole 4021. In addition, two through grooves 4022 communicating with the mounting hole 4021 are formed on the side of the second front clamping plate 402. The fine-tuning motor 703 is installed in the through grooves 4022. The motor shaft of the fine-tuning motor 703 passes through the through grooves 4022 and is connected to the laser aiming device 702 to finely adjust the position of the laser aiming device 702. Preferably, the two through grooves 4022 on both sides of the second front clamping plate 402 are relatively perpendicular to each other.

[0081] Optionally, the front clamp 40 further includes: a third front clamping plate 403, which is connected to the middle clamp 50, and the length adjustment between the front clamp 40 and the middle clamp 50 is realized through the third front clamping plate 403. The second front clamping plate 402 and the third front clamping plate 403 of this embodiment are detachably connected.

[0082] Optionally, the laser aiming device 702 is detachably connected to the third front clamping plate 403 through a first connecting member 405. In this way, it helps to improve the installation stability of the laser aiming device 702. And the laser aiming device 702 can rotate relative to the first connecting member 405 to adapt to the fine position adjustment of the laser aiming device 702.

[0083] Optionally, the rear clamp 60 includes: a first rear clamping plate 601 for connecting to the middle clamp 50; a second rear clamping plate 602, which is L-shaped, the vertical arm is connected to the first rear clamping plate 601, and the horizontal arm is located at the bottom of the gun seat of the firearm 200 and abuts against the gun seat; a third rear clamping plate 603, which is L-shaped, the horizontal arm is connected to the first rear clamping plate 601, and the vertical arms of the third rear clamping plate 603 and the second rear clamping plate 602 are respectively located on both sides of the gun seat; wherein, the size of the accommodating cavity 605 defined by the second rear clamping plate 602 and the third rear clamping plate 603 is larger than the size of the gun seat to adapt to gun seats of different sizes.

[0084] In this embodiment, the first rear clamping plate 601 of the rear clamp 60 and the second rear clamping plate 602 are detachably connected (such as connected by a bolt structure), the first rear clamping plate 601 and the third rear clamping plate 603 are detachably connected through a second connecting member 604, and a knob-type fine adjustment mechanism with an adjustable distance is provided between the third rear clamping plate 603 and the second connecting member 604, so that the horizontal arm of the third rear clamping plate 603 abuts against the top of the gun seat of the firearm 200, that is, the horizontal arms of the third rear clamping plate 603 and the second rear clamping plate 602 clamp and fix the top and bottom of the gun seat of the firearm 200. The vertical arm of the third rear clamping plate 603 and the first rear clamping plate 601 respectively abut against both sides of the gun seat of the firearm 200 to clamp and fix both side parts of the gun seat of the firearm 200.

[0085] It should be noted that the connection position between the second rear clamping plate 602 and the first rear clamping plate 601 is adjustable, and the connection position between the third rear clamping plate 603 and the first rear clamping plate 601 through the second connecting member 604 is also adjustable. In this way, the size of the accommodating cavity 605 defined by the second rear clamping plate 602 and the third rear clamping plate 603 is adjustable to adapt to gun seats of different sizes.

[0086] Optionally, the middle clamp 50 includes: a first middle clamping plate 501, the two ends of which are respectively connected to the front clamp 40 and the rear clamp 60, and the connection positions are adjustable to adjust the overall length of the clamping device.

[0087] In this embodiment, the first middle clamp 501 and the third front clamp 403 of the front clamp 40 are detachably connected. Exemplarily, the first middle clamp 501 and the third front clamp 403 are respectively provided with a plurality of threaded holes arranged along a preset direction, and different threaded holes in the first middle clamp 501 are connected with different threaded holes in the third front clamp 403 by bolts, so as to achieve the purpose of adjustable connection position. Bolts are provided in the plurality of corresponding threaded holes, so that the connection firmness and stability of the first middle clamp 501 and the third front clamp 403 can be improved.

[0088] Similarly, the first middle clamping plate 501 and the first rear clamping plate 601 of the rear clamp 60 are detachably connected. Exemplarily, the first middle clamping plate 501 and the first rear clamping plate 601 are respectively provided with a plurality of threaded holes arranged along a preset direction, and different threaded holes in the first middle clamping plate 501 are connected with different threaded holes in the first rear clamping plate 601 by bolts, so as to achieve the purpose of adjustable connection position. Bolts are provided in the plurality of corresponding threaded holes, so that the connection firmness and stability of the first middle clamping plate 501 and the first rear clamping plate 601 can be improved.

[0089] Optionally, the middle clamp 50 further includes a second middle clamp plate 502, which is located below the first middle clamp plate 501 and is detachably connected to the first middle clamp plate 501. The middle clamp 50 is connected to the buffer slider 2022 of the buffer device 20 via the second middle clamp plate 502.

[0090] Optionally, when the front clamp 40 / rear clamp 60 adjusts its angle, the piezoelectric mass sensor built into the middle clamp 50 provides real-time feedback on the center of gravity offset, and links the counterweight motor for automatic balancing, ensuring that the center of gravity offset of the platform under different gun types meets the requirements.

[0091] Optionally, the measuring device includes a multiple aiming device 701 and a laser aiming device 702 .

[0092] The multi-fold mirror aiming device is provided on the firearm 200 to measure the distance to the target object; the target object is measured and aimed at by means of the multi-fold mirror. The laser aiming device 702 is provided on the fixture device and is located at the muzzle of the firearm 200 to cooperate with the muzzle to aim at the target object; the target object is aimed at by means of laser, and the shooting accuracy is improved by cooperating with the muzzle. The positions of the multi-fold mirror aiming device and the laser aiming device 702 can be fine-tuned.

[0093] This embodiment forms a cross-verification of optical ranging and laser ranging through the coordinated configuration of the multi-power mirror aiming device and the laser aiming device 702, which effectively reduces the comprehensive ranging error rate. The real-time position comparison between the cross-reticle plate of the multi-power mirror and the laser spot can automatically correct the atmospheric refraction deviation, especially in rainy and foggy environments, to maintain the effective ranging distance at more than 85% of the design value.

[0094] The adjustable structure of the dual devices of the multi-magnification aiming device and the laser aiming device 702 in this embodiment supports adaptation to different firearm 200 models, improves installation compatibility, and shortens calibration time.

[0095] Optionally, the firing device 80 includes a first toggle assembly for toggling the trigger and a second toggle assembly for toggling the safety bolt. The firing device 80 of this embodiment is installed on the middle clamp 50 (such as the first middle clamp plate 501) to achieve fixation and ensure the consistency of the firing device 80 and the firearm 200.

[0096] The first toggle assembly includes a lever 8011 inserted into the trigger of the firearm 200, and a first firing drive unit 801 connected to the lever 8011. The first firing drive unit 801 drives the lever 8011 to move, so as to drive the trigger of the firearm 200 to move and fire. The first firing drive unit 801 includes a first firing drive motor and a first firing transmission assembly. The first firing drive motor drives the lever 8011 to rotate through the first firing transmission assembly, thereby pulling the trigger and achieving the purpose of shooting. Optionally, the first firing transmission assembly is a gear transmission mechanism.

[0097] The second toggle assembly includes a toggle block 8022 matched with the safety bolt of the firearm 200, and a second firing drive unit 802 connected to the toggle block 8022. The second firing drive unit 802 drives the toggle block 8022 to move, so as to switch the safety bolt of the firearm 200. The second firing drive unit 802 includes a second firing drive motor and a second firing transmission assembly. The second firing drive motor drives the toggle block 8022 to rotate through the second firing transmission assembly, thereby toggling the safety bolt, opening / closing the safety bolt of the firearm 200, and preparing for shooting. Optionally, the second firing transmission assembly is a gear transmission mechanism. Optionally, the toggle block 8022 matches the safety bolt.

[0098] In this embodiment, the first toggle assembly (trigger drive) and the second toggle assembly (safety lock control) are logically interlocked through an electronic control unit (ECU), forcing the second firing drive unit 802 to release the safety lock before the first firing drive unit 801 can drive the trigger, thereby reducing the probability of false triggering.

[0099] Optionally, a pressure sensor is integrated at the end of the lever 8011 to provide real-time feedback on the trigger resistance and automatically adjust the driving force, so that the difference in the completion time of the firing action of different gun types is controlled within a specified range.

[0100] Optionally, the firearm 200 intelligent platform further includes: a bullet changing device, including a magazine disassembly and assembly device 90 and a magazine box 100 , wherein the magazine disassembly and assembly device 90 is disposed on the clamp device, and the magazine box 100 is disposed on the side of the support device 10 .

[0101] The magazine disassembly and assembly device 90 includes a third connecting member 901, a fourth connecting member 902, and a magazine button pushing portion 903. The third connecting member 901 is detachably connected to the middle fixture 50 (such as the first middle clamping plate 501). Among them, the connection position between the third connecting member 901 and the first middle clamping plate 501 is adjustable to adapt to different models of firearms 200. One end of the fourth connecting member 902 is rotatable relative to the third connecting member 901, and the other end is connected to the magazine button pushing portion 903. The fourth connecting member 902 is rotatable relative to the third connecting member 901, aiming to adapt to the different positions of the magazine buttons of different models of firearms 200, adjusting the rotation angle of the fourth connecting member 902 so that the magazine button pushing portion 903 can correspond to the magazine button of the firearm 200, pressing the magazine button of the firearm 200, thereby realizing the disassembly and assembly of the magazine of the firearm 200. Optionally, the magazine button pushing portion 903 can be realized by a pneumatic push rod or a lead screw assembly.

[0102] In this embodiment, two magazine boxes 100 are provided. The two magazine boxes 100 are respectively arranged on both sides of the support device 10. The rotary table 101 and the firearm 200 are driven to rotate by the first driving portion and the second driving portion of the support device 10, aligning the magazine loading area of the firearm 200 with the empty area of the magazine box 100. Then, the magazine disassembly and assembly device 90 cooperates to disassemble the old magazine, and the disassembled old magazine is recycled into the magazine box 100. Then, the angle of the firearm 200 is adjusted so that the magazine loading area of the firearm 200 is aligned with the new magazine, and the magazine disassembly and assembly device 90 cooperates to complete the installation of the new magazine.

[0103] Optionally, the magazine box 100 integrates a radio frequency identification module, which can automatically identify the magazine type and be linked with the insurance state of the firearm 200, reducing the ammunition mis-matching rate.

[0104] Optionally, the outer shell of the magazine box 100 is protected, and a silica gel desiccant tank and a constant temperature heating sheet are arranged inside to extend the ammunition storage period in extreme environments such as deserts and rainforests.

[0105] Optionally, the RFID data of the magazine box 100 communicates with the ECU of the firing device 80 in real time. When the ammunition remaining amount is lower than 10%, a reloading instruction is automatically triggered, demonstrating the synergistic effect of the reloading device and the firing device 80 in this embodiment.

[0106] The firearm 200 intelligent platform provided in this embodiment includes a controller. The controller receives and outputs relevant instructions to control the motor actions of each device, thereby completing shooting.

[0107] Combined with Figures 1 to 18 As shown, the present disclosure embodiment also provides a control method for a firearm 200 intelligent platform with two degrees of freedom, characterized in that the firearm 200 platform includes an aiming algorithm module, a striking algorithm module, and a bullet quantity reloading algorithm module;

[0108] The control method includes:

[0109] S01. Determine the target, and the aiming algorithm module calibrates the target, and performs dynamic aiming and / or static aiming;

[0110] S02. In response to the confirmation signal of the aiming algorithm module, the striking algorithm module determines the shooting mode according to the type of the target;

[0111] S03. According to the shooting mode, the ammunition quantity and reloading algorithm module determines the ammunition consumption and task requirements, and judges whether to trigger the reloading operation.

[0112] By using the control method provided by the embodiment of the present disclosure for the intelligent platform of the firearm 200 with two degrees of freedom, through the collaborative optimization of the aiming algorithm module, the striking algorithm module and the ammunition quantity and reloading algorithm module, not only the aiming accuracy is improved, but also the shooting mode can be automatically selected according to the target type, thereby improving the hit rate; in addition, the ammunition quantity and reloading algorithm module monitors the remaining ammunition quantity and evaluates the task priority, and independently judges whether to reload, avoiding task interruption and improving the task completion rate. By combining the intelligent algorithm with the structural device to form two modes of autonomous and manual remote control, the purpose of combining a high degree of intelligence and remote control is achieved.

[0113] Exemplarily, when the target type is a high-speed moving armed vehicle, the aiming algorithm module activates the multi-mirror aiming device and the laser aiming device 702, completes the extraction of target features, and generates a ballistic compensation scheme in combination with the data of the wind speed sensor. The dynamic aiming algorithm predicts the target movement trajectory and continuously outputs aiming correction instructions. The striking algorithm module identifies the target as an armored vehicle and automatically selects the armor-piercing ammunition continuous shooting mode. The firing device 80 and the support device 10 cooperate to control and complete the muzzle fine adjustment to ensure that the dispersion of 5 bullet impacts is less than the preset value. The ammunition quantity and reloading algorithm monitors the remaining ammunition quantity (initially 30 rounds → 25 rounds after shooting), and judges to trigger reloading in combination with the task requirements (continuously suppressing 3 targets): the magazine disassembly and assembly device 90 completes the unloading of the empty magazine and the loading of a new magazine (high-explosive ammunition) within 1.2 seconds; the RFID verifies the ammunition type.

[0114] Optionally, the aiming algorithm module includes a multi-mirror aiming device and a laser aiming device 702; the calibration of the target by the aiming algorithm module includes: automatically adjusting the multi-mirror aiming device to obtain a clear picture during long-range shooting; performing the first test shot and obtaining the position of the bullet impact; synchronously adjusting the alignment relationship between the multi-mirror aiming device and the laser aiming device 702 and the aiming point of the target according to the position of the bullet impact.

[0115] The multi - scope aiming device and the laser aiming device 702 are fused through an algorithm to achieve the following during long - range shooting: automatically adjust the focal length of the multi - scope to obtain a clear image; the laser aiming device 702 synchronously calibrates the target reference point to reduce the initial aiming error. The first test shot is carried out and the position of the impact point is obtained, providing a practical basis for subsequent aiming adjustments. Based on the position of the impact point, the alignment relationship between the multi - scope aiming device and the laser aiming device 702 and the target aiming point is synchronously adjusted. This feedback - type calibration method is more efficient and accurate compared to traditional manual multiple adjustments, shortening the calibration time and improving the overall shooting efficiency. The combination of the multi - scope aiming device and the laser aiming device 702 enables the firearm 200 to have a more suitable aiming option in different environments and shooting scenarios. For example, in a dimly lit environment, the laser aiming device 702 can assist the multi - scope aiming device to lock the target more quickly, adapting to diverse combat or shooting requirements.

[0116] Optionally, when the aiming algorithm module calibrates the target, it further includes: based on the position of the impact point, when synchronously adjusting the alignment relationship between the multi - scope aiming device and the laser aiming device 702 and the target aiming point, a second test shot verification is carried out based on the adjusted parameters.

[0117] After the first test shot and adjustment of the aiming device, a second test shot verification is carried out based on the adjusted parameters to re - confirm the accuracy of aiming. This process can timely detect and correct possible minor deviations in the first adjustment, significantly increasing the probability of finally hitting the target, especially in scenarios with extremely high shooting accuracy requirements, such as sniper missions, high - precision shooting competitions, etc. The second test shot verification is equivalent to adding an extra "insurance" to the aiming calibration process. By verifying the effectiveness of the adjustment parameters through the actual shooting results, it avoids system failures or calculation mistakes that may occur due to a single adjustment. If the second test shot misses, the system can quickly identify the problem and perform re - calibration, ensuring the reliability of the entire shooting process and ensuring normal operation at critical moments. The data generated by the second test shot, including the position of the impact point, shooting parameters, etc., can provide a richer reference basis for subsequent shootings. For consecutive shooting tasks in the same environment, this data can be used to optimize the aiming algorithm, enabling the system to complete calibration faster and more accurately, and improving the overall shooting performance.

[0118] Optionally, when the aiming algorithm module performs dynamic aiming at the target, it includes: establishing a motion equation based on the target speed, acceleration, and distance parameters to predict the target motion trajectory; generating a lead aiming command according to the predicted trajectory.

[0119] The aiming algorithm module establishes a motion equation based on the target speed, acceleration, and distance parameters to accurately predict the target motion trajectory, enabling the weapon system (or equipment with aiming function) to know in advance the target's movement trend, no longer limited to aiming at the target's current position, but aiming at the position where the target will arrive in the future, greatly improving the strike accuracy against dynamic targets, effectively reducing the aiming error caused by the target's movement, and thus enhancing the mission success rate.

[0120] This embodiment can adapt to targets in a variety of different motion states. Whether it is a target moving at high speed, with variable speed, or performing complex curvilinear motion, it can quickly establish a motion equation that conforms to the actual motion of the target by analyzing its speed, acceleration, and distance monitoring, adjust the aiming strategy in real time, and flexibly respond to the rapidly changing target dynamics on the battlefield (or in the operation scenario), ensuring effective aiming ability in a complex and changeable environment at all times. And within a very short time, it predicts the target motion trajectory according to the established motion equation, and quickly generates a lead aiming instruction based on this, greatly shortening the time interval from the target's dynamic change to the system's aiming adjustment, ensuring that the weapon system (or equipment) can keep up with the target rhythm in time, accurately strike the target at the first time, and not give the target a chance to escape or change the situation. Especially in high-tempo, time-critical confrontation scenarios, it wins the key combat initiative for the user.

[0121] In addition, the operator does not need to manually estimate the target's dynamic trend based on experience and difficultly make manual aiming adjustments. The aiming algorithm module automatically completes the complex target motion analysis and aiming instruction generation process, greatly simplifying the aiming operation process, enabling the operator to focus more energy on other key tasks such as tactical decision-making and environmental monitoring, not only reducing the operator's work burden but also reducing the risk of aiming failure caused by human judgment errors.

[0122] Optionally, the state variables for predicting the target motion trajectory at least include the target three-dimensional coordinates, velocity vector, and acceleration vector.

[0123] In this way, by incorporating the target three-dimensional coordinates into the state variables for predicting the target motion trajectory, the system breaks through the limitations of traditional two-dimensional plane aiming and realizes precise positioning and continuous tracking of the target in three-dimensional space. Whether it is a target flying in the air, moving on the ground, or sailing on the sea, no matter how complex and changeable its motion trajectory is, involving changes in dimensions such as height and depth, it can be accurately captured, ensuring that the aiming system always masters the accurate position information of the target, providing a solid foundation for subsequent precise strikes or interactive operations.

[0124] In addition, the velocity vector, as a key state variable, enables the system to gain real-time insights into the speed and direction of the target's movement. Combined with the acceleration vector, it further endows the system with the ability to keenly perceive the target's actions of changing speed and direction. When the target suddenly accelerates, decelerates, turns, or performs complex maneuvering actions, the system can quickly adjust the prediction model based on this dynamically changing vector information, dynamically update the target's movement trajectory, always tightly lock onto the target, and its adaptability far exceeds that of ordinary aiming solutions that only rely on static or single-dimensional motion parameters.

[0125] This embodiment comprehensively uses three-dimensional coordinates, velocity vectors, and acceleration vectors for trajectory prediction, endowing the system with a forward-looking vision. It can anticipate the target's position trend in the future for a period of time in advance, plan the aiming path and strategy in advance, rather than reacting passively after the target moves. This not only significantly improves the response speed, reduces the aiming deviation caused by reaction lag, but also can orderly arrange the aiming sequence and resource allocation when facing multiple fast-moving targets, greatly enhancing the overall operation efficiency. The collaborative use of multi-dimensional state variables constructs a more robust trajectory prediction system. Compared with methods that rely on single or a small number of parameters, even if some sensor data experiences short-term fluctuations, errors, or losses (such as the speed measurement being affected by electromagnetic interference, or the coordinate positioning accuracy decreasing due to occlusion), the system can still perform reasonable trajectory calculation and correction based on other complete variable information, ensuring the continuous and accurate prediction of the target's movement trajectory, maintaining the reliable operation of the entire aiming or tracking process, and reducing the system failure risk.

[0126] Optionally, the firearm 200 platform includes a support device 10 for supporting and driving the lateral rotation and longitudinal rotation of the firearm 200. The static aiming of the target by the aiming algorithm module includes: detecting the rotation speed and tilt angle of the support device 10, determining the deviation from the target position relationship according to the rotation angle data and tilt angle data, and generating a correction instruction.

[0127] By detecting the rotation speed and tilt angle of the support device 10, key data is provided for accurately grasping the real-time attitude of the firearm 200 platform. Whether in the relatively stable shooting position layout or in response to complex static scenarios such as terrain undulations and temporarily constructed non-standard shooting platforms, the system can keenly capture even the slightest angle changes of the firearm 200, thereby accurately positioning the actual pointing of the firearm 200 relative to the target, greatly avoiding aiming deviations caused by inaccurate initial platform states, and ensuring high-precision positioning at the initial stage of shooting. And based on the obtained rotation angle data and tilt angle data, the deviation of the positional relationship with the target is quickly and accurately determined, which is like equipping the firearm 200 with an "intelligent eagle eye". During static aiming, once the support device 10 is slightly tilted due to external factors such as ground settlement, or the firearm 200 platform is inadvertently rotated and offset due to personnel operation, the system can detect it in the first time and immediately generate a correction instruction to keep the firearm 200 always accurately pointed at the target, effectively improving the ability to maintain aiming accuracy for a long time in static shooting scenarios.

[0128] As the bearing foundation of the firearm 200, the working conditions of the support device 10 are complex and changeable. The aiming algorithm module adopted in this embodiment fully considers various attitude adjustment requirements that the support device 10 may have in different environments, dynamically compensates for aiming deviations caused by environmental factors, and greatly broadens the effective use range of the firearm 200 in various static battlefields or operating environments.

[0129] In the scenario where multiple firearm 200 units cooperate in combat in this embodiment, each firearm 200 platform independently performs aiming correction based on the angle data fed back by its own support device 10, which can ensure the consistency and accuracy of the aiming directions of the entire combat unit. It avoids the problem of scattered group firepower caused by the accumulation of attitude differences of individual platforms, enables concentrated firepower and accurate coverage of the target area when multiple firearms 200 cooperate in strikes, and significantly improves the firepower efficiency and cooperative stability of team combat.

[0130] Optionally, the strike algorithm module includes a firing device 80, and the firing device 80 is used to open the safety bolt of the firearm 200 and pull the trigger of the firearm 200; the determining the shooting mode according to the type of the target includes: distinguishing biological targets from non-biological targets through image analysis, issuing "capture" or "kill" instructions according to different target types, and calling corresponding shooting density parameters; controlling the action of the firing device 80 according to the selected shooting density parameters to control the continuous firing frequency and / or the amount of ammunition fired.

[0131] By accurately distinguishing biological targets from non-biological targets through image analysis, the weapon system is endowed with intelligent tactical decision-making capabilities. In law enforcement, security and other scenarios, facing complex and changing on-site situations, the system can quickly determine the nature of the target. When a biological target is identified and the mission requirement is to "capture", it issues corresponding instructions to avoid unnecessary casualties caused by excessive use of force; and when encountering dangerous hostile biological targets that need to be "killed", it can decisively switch combat modes to ensure a balance between public safety and mission execution, greatly improving the accuracy and adaptability of responding to different scenarios.

[0132] The corresponding shooting density parameters are called according to the target type, fully considering the characteristics and requirements of different targets. For biological targets that need to be captured alive, lower shooting density parameters are selected to control the burst frequency and the amount of bullets fired, which can not only achieve the purpose of deterrence and control of target actions, but also minimize the damage to the target's body and increase the success rate of capture; on the contrary, for aggressive targets that need to be eliminated immediately, higher shooting density is used to ensure the intensity of fire suppression and quickly achieve combat objectives, realizing a perfect match between shooting strategy and target disposal requirements.

[0133] The strike algorithm module automates the complex operations of opening the safety bolt and pulling the trigger through the firing device 80. The operator does not need to manually perform high-risk safety operations and delicate trigger pulling actions, reducing the risk of accidental discharge caused by factors such as tension and misoperation, while simplifying the shooting process. Especially in emergency operations or high-intensity tasks, the operator can focus more on target monitoring and battlefield situation awareness, improving overall combat efficiency and safety.

[0134] The firing device 80 is precisely controlled according to the selected firing density parameters to ensure that every bullet fired serves the mission objective. In scenarios where continuous fire suppression is required, a reasonable burst frequency can maintain a stable attack posture and not give the enemy a chance to breathe; and the precisely controlled firing volume avoids ammunition waste and makes efficient use of limited ammunition resources. Whether in urban street fighting, border defense or anti-terrorism operations, it can comprehensively improve combat effectiveness and achieve mission objectives.

[0135] In some embodiments, in a multi-gun 200 coordinated combat scenario, the strike algorithm modules of each gun 200 operate according to a unified target identification and shooting density parameter allocation standard, which can ensure that the entire combat team makes a coordinated response to different targets. For example, when facing a group target, some guns 200 execute the "capture" command, and some are responsible for "shooting" dangerous elements. Through orderly shooting density control, a clear division of firepower and tacit tactical coordination are achieved, which significantly improves the collaborative efficiency and mission success rate of team operations.

[0136] Optionally, the ammunition quantity-based reloading algorithm module includes a reloading device; determining the ammunition consumption and mission requirements and judging whether to trigger a reloading operation includes: statistically counting the number of fired ammunitions in real time, storing the ammunition thresholds corresponding to different shooting modes, and triggering the operation of the reloading device to replace the magazine when the remaining ammunition quantity is lower than the current corresponding ammunition threshold.

[0137] By statistically counting the number of fired ammunitions in real time, the system can accurately grasp the ammunition consumption of the firearm 200 during combat. Whether in a fierce battlefield or a high-risk law enforcement scenario, once the remaining ammunition quantity is lower than the ammunition threshold corresponding to the current shooting mode, the reloading device can be quickly triggered to perform a reloading operation, seamlessly connecting to the subsequent shooting mission, avoiding the interruption of firepower due to ammunition exhaustion, giving the user continuous and stable attack capabilities, and ensuring that opportunities are not missed at critical moments.

[0138] Storing the ammunition thresholds corresponding to different shooting modes fully takes into account the requirements of diverse shooting scenarios. For example, in a sniper mission that requires high-precision single-point shooting, the corresponding ammunition threshold can be set relatively low to remind timely reloading and ensure that each bullet is accurate and effective; while in a full-automatic shooting scenario for suppressing firepower, the ammunition threshold is correspondingly increased to adapt to the high-intensity ammunition consumption rhythm, making the shooting strategy perfectly match the ammunition replenishment rhythm and enhancing the overall combat effectiveness.

[0139] The reloading device integrated in the ammunition quantity-based reloading algorithm module automates the originally complex, cumbersome, and somewhat dangerous manual reloading process. The operator does not need to distract to judge when to reload and fumble with the reloading steps, reducing the risk of reloading mistakes, delaying opportunities, or even exposing their own position due to nervousness. At the same time, it greatly simplifies the combat process, enabling the operator to focus more on target tracking and battlefield situation control, enhancing the actual combat safety and efficiency.

[0140] Accurate ammunition statistics and an intelligent reloading trigger mechanism effectively prevent problems such as overheating of the gun barrel and increased wear of mechanical parts caused by excessive shooting. Timely replacing the magazine allows the firearm 200 to operate under reasonable conditions, extending the service life of the firearm 200, reducing the failure rate. Especially for equipment that conducts long-term high-intensity combat or frequently executes tasks, this self-protection and maintenance mechanism ensures that the firearm 200 is always in a good combat state and improves the equipment reliability.

[0141] In some embodiments, in a scenario of multi-firearm 200 coordinated combat, each firearm 200 operates independently according to its own ammunition quantity-based reloading algorithm module. When a certain firearm 200 triggers reloading, the other firearms 200 can continue to maintain firepower output and maintain the overall attack posture. It avoids the formation of a firepower vacuum due to the reloading of individual firearms 200, affecting the team combat effect, ensuring the coherence and stability of team firepower coordination, and enhancing the success rate of coordinated combat.

[0142] An embodiment of the present disclosure also provides a firearm intelligent platform with two degrees of freedom, including: one or more processors; and a memory storing computer program instructions, which when executed cause the processors to perform the steps of the control method for the firearm intelligent platform with two degrees of freedom provided in any of the foregoing embodiments.

[0143] An embodiment of the present disclosure provides a firearm intelligent platform with two degrees of freedom, further including a processor and a memory. Optionally, the device may further include a communication interface and a bus. Among them, the processor, the communication interface, and the memory can complete communication with each other through the bus. The communication interface can be used for information transmission. The processor can call the logical instructions in the memory to execute the control method for the firearm intelligent platform with two degrees of freedom in the foregoing embodiments.

[0144] An embodiment of the present disclosure also provides a computer-readable medium, on which computer programs / instructions are stored, and when the computer programs / instructions are executed by a processor, the steps of the control method for the firearm intelligent platform provided in any of the foregoing embodiments are implemented.

[0145] An embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, and when the program instructions are executed by a computer, the computer is caused to execute the control method for the firearm intelligent platform described above.

[0146] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The foregoing storage medium may be a non-transitory storage medium, including: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes, or may also be a transient storage medium.

[0147] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure, enabling those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, process, and other changes. The embodiments merely represent possible variations. Unless explicitly required, the individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terms used in this application are only for describing the embodiments and do not limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to also include the plural forms. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of one or more of the associated listed items. Additionally, when used in this application, the term "comprise" and its variants "comprises" and / or "comprising" etc. mean the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups of these. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, or apparatus comprising the element. In this document, what each embodiment focuses on may be the differences from other embodiments, and the same or similar parts among the embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method parts disclosed in the embodiments, the relevant parts may refer to the description of the method parts.

[0148] Those skilled in the art will realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software can depend on the specific application and design constraints of the technical solution. The skilled person can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the embodiments of the present disclosure. The skilled person can clearly understand that for the sake of convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0149] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units can be merely a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the couplings or direct couplings or communication connections shown or discussed between each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. Additionally, in the embodiments of the present disclosure, the various functional units can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.

[0150] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to the embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the block can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, which can depend on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks can also occur in a different order than that disclosed in the description. Sometimes, there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, which can depend on the functions involved. Each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0151] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure, enabling those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or substituted for parts and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims, and the above embodiments should be regarded as exemplary and non-limiting.

Claims

1. A control method for a firearm intelligent platform with two degrees of freedom, characterized in that: The firearm platform includes a aiming algorithm module, a striking algorithm module and an ammunition replacement algorithm module; The control method comprises: Determine the target, the aiming algorithm module calibrates the target, and dynamically aims and / or statically aims; In response to the confirmation signal of the aiming algorithm module, the strike algorithm module determines the shooting mode according to the type of the target; According to the shooting method, the ammunition replacement algorithm module determines the ammunition consumption and task requirements, and determines whether to trigger the reloading operation.

2. The control method according to claim 1, characterized in that: The aiming algorithm module includes a multi-fold mirror aiming device and a laser aiming device; the aiming algorithm module calibrates the target including: Get a clear picture by automatically adjusting the multi-power aiming device during long-range shooting; Conduct the first test firing and obtain the impact point location; The alignment relationship between the multi-magnification aiming device and the laser aiming device and the aiming point of the target is synchronously adjusted according to the position of the impact point.

3. The control method according to claim 2, characterized in that: The aiming algorithm module calibrates the target and further comprises: While synchronously adjusting the alignment relationship between the multi-magnification aiming device and the laser aiming device and the aiming point of the target according to the impact point position, a secondary test firing verification is performed based on the adjusted parameters.

4. The control method according to claim 1, characterized in that: The aiming algorithm module dynamically aims at the target including: Establish the motion equation based on the target speed, acceleration and distance parameters to predict the target motion trajectory; Generate lead aiming instructions based on the predicted trajectory.

5. The control method according to claim 4, characterized in that: The state variables of the predicted target motion trajectory include at least the target three-dimensional coordinates, velocity vector and acceleration vector.

6. The control method according to claim 1, characterized in that: The firearm platform includes a support device for supporting and driving the firearm to rotate horizontally and vertically. The aiming algorithm module performs static aiming on the target including: The rotation speed and tilt angle of the support device are detected, and the deviation from the target position relationship is determined based on the rotation angle data and the tilt angle data, and a correction instruction is generated.

7. The control method according to claim 1, characterized in that: The strike algorithm module includes a firing device, which is used to open the safety bolt of the firearm and pull the trigger of the firearm; Determining the shooting method according to the type of target includes: distinguishing biological targets from non-biological targets through image analysis, issuing "capture" or "kill" instructions according to different target types, and calling corresponding shooting density parameters; controlling the action of the firing device according to the selected shooting density parameters to control the continuous firing frequency and / or the amount of bullets fired.

8. The control method according to claim 1, characterized in that: The ammunition quantity replacement algorithm module includes an ammunition replacement device; the determination of ammunition consumption and task requirements and the judgment of whether to trigger the ammunition replacement operation include: Real-time statistics of the number of ammunition fired, storage of ammunition thresholds corresponding to different shooting methods, and triggering of the magazine replacement operation by the magazine replacement device when the remaining ammunition is lower than the current corresponding ammunition threshold.

9. A firearm intelligent platform with two degrees of freedom, characterized in that: include: one or more processors; as well as A memory storing computer program instructions which, when executed, cause the processor to perform the steps of the control method as claimed in any one of claims 1 to 8.

10. A computer readable medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the control method according to any one of claims 1 to 8 are implemented.

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